WO2022245218A1 - Système et procédé d'entraînement d'un utilisateur - Google Patents

Système et procédé d'entraînement d'un utilisateur Download PDF

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Publication number
WO2022245218A1
WO2022245218A1 PCT/NO2021/050123 NO2021050123W WO2022245218A1 WO 2022245218 A1 WO2022245218 A1 WO 2022245218A1 NO 2021050123 W NO2021050123 W NO 2021050123W WO 2022245218 A1 WO2022245218 A1 WO 2022245218A1
Authority
WO
WIPO (PCT)
Prior art keywords
user
moveable part
training
moveable
sensor
Prior art date
Application number
PCT/NO2021/050123
Other languages
English (en)
Inventor
Tom Arild Wike
Roger Nebell
Egil TRØMBORG
Original Assignee
X-Tr As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by X-Tr As filed Critical X-Tr As
Priority to PCT/NO2021/050123 priority Critical patent/WO2022245218A1/fr
Publication of WO2022245218A1 publication Critical patent/WO2022245218A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A63B21/0059—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors using a frequency controlled AC motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4034—Handles, pedals, bars or platforms for operation by feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
    • A63B21/4043—Free movement, i.e. the only restriction coming from the resistance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/02—Characteristics or parameters related to the user or player posture
    • A63B2208/0204—Standing on the feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/02—Characteristics or parameters related to the user or player posture
    • A63B2208/0204—Standing on the feet
    • A63B2208/0209—Standing on the feet on a single foot
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/20—Distances or displacements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force

Definitions

  • the present invention concerns a system to be used for training a user.
  • Fig. 1 is a three dimensional sketch showing an apparatus according to the invention while being used
  • Fig. 2 is a three dimensional sketch of the device according to the invention.
  • Fig. 3 is a bird's eye view showing a principal sketch of a first embodiment of the device according to the invention
  • Fig. 4 is a bird's eye view showing a sketch of a second embodiment
  • Fig. 5 is a bird's eye view of a sketch of a third embodiment.
  • the present invention is based on the use of so-called eccentric training.
  • Eccentric training represents the muscles being gradually forced to elongate because they are being exposed to a stronger force than they are using themselves, in repetitive exercises.
  • such an elongation exercise of the muscles represents a risk for the machine to expose the user for more power than what is desirable and may in a worst case scenario force the user into painful movements.
  • the device is dependent on precise measuring equipment making possible a continuous adjustment to the user's accomplishments. For example when the user no longer exercises any force, the machine will stop immediately.
  • the training principle is that the machine always is (a little) stronger than the user.
  • the user When the machine has started an exercise, the user is challenged to counter-act this movement (up to a "specified" power level) - but is simultaneously forced to follow the movements of the machine.
  • the machine will register the user's power level and thereby gradually map the user's muscular weaknesses within the entire allowed xy area.
  • the progress of the user may be charted, and the user may select new exercises focusing on the weaker areas. Notice that the user gradually uses different sections of his or her musculature when the position of the xy table is changed. In total this becomes a completely different form of training than the traditional concentric one (muscle contractions).
  • All (anonymized) data may be stored on the cloud so that each user always may download his or her training program and compare this against previous efforts (and e.g. the mean data from the user group of the same age and gender and weight).
  • Fig. 1 illustrates a first embodiment of the invention.
  • the user stands here with his or her one foot on a moveable part 4 in the form of a plate.
  • the moveable part is here linearly moveable in two orthogonal directions and is also pivotable about a vertical axis.
  • the device shown in Fig. 1 comprises only one moveable part so that the user stands with one foot on the part or plate and the other foot on a firm, solid point. All embodiments may comprise two moveable parts that the user stands on. Thus all the user's feet are moved relative to each other.
  • Fig. 2 shows the internal construction of the device of Fig. 1.
  • the device comprises a moveable part 4, a number of linear motors 3, 6, a stationary part 1, 2, at least one sensor and at least one processor or controller 8.
  • the moveable part 4 is connected to the motors 3, 6 creating a movement that the patient/performer in selected instances is to counter-act.
  • the motors 6 create: at least one movement along the x- and y-directions, preferably along the x- , y- and z-directions; preferred a rotation about on of the x-, y- and z-axes, more preferred a rotation about two of the x-, y- and z-axes, most preferred one rotation about the x-, y- and z-axes.
  • a robotic arm consists normally of one or more consecutive and inter-connected parts that lead towards a "hand" or last section. Whereas the first part has a firm spatial anchor point, all of the subsequent parts will have their anchorage point changed if one or more previous joints move. This means that the movement of all the subsequent joints will in varying degree consist of both x-, y- and z- components. Correspondingly different joints may create partly opposite movements. In practice this means that the function of every joint must be described as a vector in both x-, y- and z-, i.e. 3 dimensions. Furthermore this means in practice that a precise positioning of the "hand" of the robotic arm demands precise knowledge about the position of all the previous joints - but simultaneously that this position as a rule may be obtained in several ways with intervening joints.
  • the system is controlled by a processor or a controller 8 controlling the velocity and movement of the moveable part.
  • the processor or controller 8 guarantees the movement quality as well. Freedom degrees of velocity, movement and pattern, resistance/weight, speed, movement pattern of the moveable part 4, etc. may be regulated, e.g. movement along or a rotation about the x-, y- and z-axes or any combination thereof.
  • Data from the sensor 7 may be stored and analyzed, allowing an analysis of the test or training session.
  • the force and quality and quantity of the tests/trainings are reproducible and hence it is possible to survey the training effect or the condition of the performer by e.g. following the changes in the capacity/function/injuries, reduction of the biological and functional performances in relation to the performer's age, physical condition, muscular strength, training of an injury, muscular control, stamina, coordination and nervous system oxygen assimilation, heart capacity, lung capacity, etc. of the performer.
  • the system is equipped with at least one sensor 7, preferably at least two sensors, more preferred at least three sensors for measuring the resistance or the force that the training apparatus is being subjected to.
  • the present training apparatus uses, oppositely to the standardized training equipment, measurements for controlling the movement of the training apparatus.
  • the training apparatus will survey the force or resistance that here will be optimized in relation to the force that the practitioner works with by the sensor system giving return messages and guides for an optimal resistance in relation to function, capacity and possibly injury/dysfunction.
  • the training apparatus according to the invention will be governed by a guiding system, e.g. by a computer, and exit data from the at least one sensor will be added to the governing system to control the successive movement (feed forward) of the training apparatus.
  • Optimized force is essential when performing force/strength/speed and mobility during training and rehabilitation.
  • the interaction between the sensor and the force-progression becomes the key to the present training apparatus concept wherein estimate and calculation of the feed-forward movement and/or force level controls the information in test and exercise.
  • feed forward is to be understood as a function wherein the power exercised by the user on the training apparatus is measured by the sensor 7.
  • the measured values are supplied to the controller 8 governing the motor(s) 6 and thereby the movement of the moveable part 4.
  • the user, sensor 7, controller 8, motor(s) 6 and the moveable part 4 in this way forms a feedback loop.
  • the controller 8 is constructed to use the "feed forward" function for supplying a bit larger force to the moveable part 4 than the user supplies. The user will resist the movement and thus receives eccentric training.
  • the moveable part 4 is controlled so that it counter-acts the force being supplied by the user by a somewhat larger force, thus leading to the limb moving towards the force direction being given by the muscular elongation by the practitioner.
  • the practitioner may e.g. attempt to move his or her legs sideways so that the feet are separated by 30 cm, and the moveable part may be controlled to act against this movement for actually move the feet together.
  • the training apparatus e.g. measures the maximum force being used by the performed as being 40 N
  • the moveable part may be controlled to provide a force at different levels, e.g. 105% of the maximum force, or any other definable force by the practitioner, for counter-acting the force being used by the practitioner and thus train the legs in an eccentric manner.
  • the user may e.g. counter-act the movement of the moveable part, and through the aid of the at least one sensor 7 the training apparatus may survey the size of the supplied force.
  • the training apparatus may then give the moveable part instructions to move with a slightly larger force against the force of the user, and this will thus effect the opposite movement of what the user attempts to achieve. If the user supplies a lesser force against the moveable part 4, the at least one sensor will register this immediately, and the training apparatus will control the moveable part to move it against this force with a lesser counter-force, but still with a slightly larger force than the one being supplied by the practitioner.
  • the moveable part 4 may be guided to move along a pre-determined path. This has as a consequence that the moveable part may be moved from a start to an end positon in a precise and predictable trajectory through a three-dimensional space while simultaneously avoiding unwanted tilting and torque by the user against the moveable part.
  • the tilt and torque may be controlled, liberated or locked.
  • the use of the training apparatus thus includes a process wherein there initially is determined which trajectory the moveable part is to follow. This is again dependent on which muscles the user has a wish to exercise. Then it is determined how much force the training apparatus is to supply to the user and the allowable and safe area of action the moveable part is to follow (range of motion, ROM).
  • the training proper is started by the user/practitioner being placed on the moveable part or parts of the apparatus.
  • the moveable part follows the determined trajectory repeatedly and subjects the user to forces according to the "feed forward" function disclosed supra.
  • the apparatus may be equipped with handles on its sides that the user may grip if the user should lose his or her balance.
  • the handles may also be equipped with a safety switch that the user may trigger for stopping the movement of the training apparatus.
  • a first suggested location for the at least one sensor 7 is on a point directly between the user/practitioner and the training apparatus. If the at least one sensor 7 e.g. is located on the moveable part 4 of the training apparatus, the at least one sensor may immediately survey and measure the relative force and torque that is supplied by the user against the part 4. It is also possible to place the at least one sensor on the stationary part 1, 2. Such an at least one sensor 7 may be a position sensor being used to actually survey and register the position of the moveable part 4 against the signal being supplied by a computer 8 to drive the training apparatus and thus obtain a value for the force or torque being used by the user.
  • such an at least one sensor 7 may be a sensor for measuring the resistance or force supplied by the user, and may be located on the stationary part 1, 2 e.g. in a X-Y table between axes and the motor 6, and thus register a value for the force being used by the user.
  • the at least one sensor 7 may register that the moveable part 4 only travels along a trajectory in a three-dimensional space and that the moveable part 4 will resist any attempt of movement away from the wanted trajectory, ensured by the guidance system.
  • the training apparatus according to the invention is able to govern and survey the movement and the training of the user. Furthermore, by supplying such a limited movement, it is possible for the training apparatus to register repetitive measurements of the strength of the user. It is preferred that the user/practitioner during training has an idea about the improvements being performed.
  • the training apparatus may perform the same test of the practitioner during the entire training regimen and through multiple training sessions. This not only gives the practitioner a clear picture of the improvements that is to be obtained, it also provides the physiotherapist/trainer with accurate and objective information about the improvements that may be decisive for changing the training regimen if the condition of the practitioner's condition is not to be improved suitably well or be changed in a wanted way.
  • the entire working area (ROM) for a patient/practitioner may be tested in different ways.
  • the first method is that the moveable part 4 may be guided and mainly be moved by the practitioner.
  • the practitioner may move his or her legs from a resting position to the maximum comfortable position to the side, while the computer controls the moveable part 4 to provide a low threshold force towards the starting position.
  • this position is registered as a point on the working area curve.
  • over stretching is avoided by the machine always having a small threshold force back to the starting position, so that the user/practitioner is assisted a bit not to move the limb too far.
  • the device according to the invention comprises a stationary frame 1 that may be made of girders 2, e.g. of wood or metal. Alternatively the frame 1 may be omitted if the girders 2 are bolted directly to the floor or in any other way are secured in their relative positions.
  • This frame 1 may comprise pairs of girders said girders 2 running mainly parallel to each other. Between these pairs of girders 2 there run in a first embodiment of the device a number of moveable tracks 3. Along these moveable tracks 3 there run along the track 3 moveable parts 4 for bodily extremities such as feet or hands.
  • the moveable parts 4 individually and independently moveable in at least a two-dimensional maximal working area 5 comprised by the frame 1 comprising the girders 2 and the tracks 3.
  • the moveable parts 4 may be moved within the points of a three- dimensional maximum working area 5. If so, the moveable parts 4 may be moved in a translatory fashion along their respective tracks 3.
  • the tracks 3 and the moveable parts 4 are connected to at least one motor (not shown) controlling the operation of these parts of the device according to the invention.
  • the moveable parts 4, but the tracks 3 as well, may be connected to a sensor 7 that may measure the force being supplied to these parts for maintaining or forcing movement thereof.
  • the reason for obtaining this registration is inter alia to adjust the force being provided by the motor(s) 6 to these respective parts. This is for quickly obtaining an adjusted and optimal training effect within a training session for the person using the training apparatus.
  • the movements being performed by the moveable parts 4 may be random, this being suitable for training technique, motor skills, reflexes or reactions in the practitioner, but they may also be governed by (a) previously selected program(s) so that the moveable parts may perform previously determined movements, e.g. diagonal running, skating, one-leg jumping, balance training (stability and joint control), walking on an uneven surface or such opposite movements for the performer to be able to train all of the relevant muscles involved in the actual movement patterns.
  • the one or several moveable part(s) 4 and alternatively the tracks 3 are equipped with mechanical, magnetic or electrical gears controlling the movements of these parts.
  • gears may be in the form of worm gears, wire operation, cog-wheel operation, magnetic operation, electromotor operation, etc.
  • the device according to the invention comprises a stationary frame 1, tracks 3 and two moveable parts 4.
  • the securing devices may move along at least x-and y-axis, and preferably along the x-, y- and x-axis (not shown).
  • Figure 4 shows an alternative construction of the embodiment presented in figure 3.
  • Figure 5 shows an embodiment wherein the moveable parts 4 are moveable tiles. These moveable parts may move in the maximal working area 5.

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Est divulgué un système destiné à être utilisé dans un entraînement excentrique, comprenant au moins une partie mobile (4), au moins une partie fixe (1, 2), au moins un moteur (6), au moins un capteur (7) sur la ou les parties mobiles (4), au moins un processeur ou un dispositif de commande (8), le processeur ou le dispositif de commande (8) recevant des signaux en provenance du capteur (7) et envoyant des signaux d'entraînement au moteur (6) commandant le mouvement de la ou des parties mobiles (4).
PCT/NO2021/050123 2021-05-19 2021-05-19 Système et procédé d'entraînement d'un utilisateur WO2022245218A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/NO2021/050123 WO2022245218A1 (fr) 2021-05-19 2021-05-19 Système et procédé d'entraînement d'un utilisateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/NO2021/050123 WO2022245218A1 (fr) 2021-05-19 2021-05-19 Système et procédé d'entraînement d'un utilisateur

Publications (1)

Publication Number Publication Date
WO2022245218A1 true WO2022245218A1 (fr) 2022-11-24

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101593028B1 (ko) * 2014-03-05 2016-02-18 한국과학기술연구원 회전3자유도 및 병진3자유도 기반의 보행 재활 훈련 장치
WO2016151527A1 (fr) 2015-03-24 2016-09-29 Fondazione Istituto Italiano Di Tecnologia Système d'entraînement pour commander la rotation d'un objet autour de deux axes perpendiculaires de rotation et appareil de rééducation destiné à la rééducation des membres inférieurs et du tronc comportant un tel système d'entraînement
JP2020089624A (ja) * 2018-12-07 2020-06-11 キヤノンファインテックニスカ株式会社 運動訓練装置
US20210069546A1 (en) * 2019-09-05 2021-03-11 Andre Foucault Kinoped lower extremity performance improvement, injury prevention, and rehabilitation system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101593028B1 (ko) * 2014-03-05 2016-02-18 한국과학기술연구원 회전3자유도 및 병진3자유도 기반의 보행 재활 훈련 장치
WO2016151527A1 (fr) 2015-03-24 2016-09-29 Fondazione Istituto Italiano Di Tecnologia Système d'entraînement pour commander la rotation d'un objet autour de deux axes perpendiculaires de rotation et appareil de rééducation destiné à la rééducation des membres inférieurs et du tronc comportant un tel système d'entraînement
JP2020089624A (ja) * 2018-12-07 2020-06-11 キヤノンファインテックニスカ株式会社 運動訓練装置
US20210069546A1 (en) * 2019-09-05 2021-03-11 Andre Foucault Kinoped lower extremity performance improvement, injury prevention, and rehabilitation system

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